PLUTO AATRV - DD2414 Engineering Project in Robotics, Perception, and Learning

This repository contains the software stack for the PLUTO robot, developed as part of the DD2414 - Engineering Project in Robotics, Perception, and Learning at KTH Royal Institute of Technology (Spring 2025).

The original PLUTO robot platform can be found here: PLUTO Robot (Original Git)

Team

• Localization & Mapping: Abhinav Srinivas Rajagopal asraj@kth.se
• Path Planning: Prasetyo Wibowo Laksono Sanjaya pwlsa@kth.se
• Control: Sarvesh Raj Kumar sarvesh@kth.se
• Perception: Sankeerth Reddy Prodduturi srpr@kth.se
• Behavior Tree: Rajesh Kumar rajeshk@kth.se

Team Supervisor

• Waqas Ali waqasali@kth.se

Running the Robot

There are two primary methods for running the robot:

1. Full Autonomous Stack: Uses the Behavior Tree, global planner, and all controllers.
2. Manual Joystick Control: For simple teleoperation.

Method 1: Full Autonomous Stack (with Behavior Tree)

Follow these steps sequentially. It is recommended to run each command in a new terminal or terminal tab.

1. Configure LIDAR

• Press Ctrl+1.
• Wait for all terminal windows to open.
• Press Ctrl+0.
• This configures the Ouster LIDAR connection.

2. Launch Localization Node

roslaunch ndt_localizer localization.launch

3. Launch Publishers Node

roslaunch robot_controller main_publishers.launch

4. Launch Controller Node (for Behavior Tree)

roslaunch robot_controller main_controller_bt.launch

5. Launch Global Planner Action Server

roslaunch robot_controller global_planner.launch

6. Run Behavior Tree

python3 /catkin_noetic_ws/src/Pluto_AATRV/control/scripts/behavior_tree_m2.py

Method 2: Manual Joystick Control

To drive the robot manually using a joystick, run the following single command:

roslaunch pluto pluto.launch

Changelog After Demo 24 October 2025

1. Rename test1.launch to main_publishers.launch
2. Rename test_controller_bt.launch to main_controller_bt.launch